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Accurate Vehicle Positioning on a Numerical Map  

Laneurit Jean (LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal)
Chapuis Roland (LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal)
Chausse Fr d ric (LASMEA-UMR 6602 UBP/CVRS Universite Baise Pascal)
Publication Information
International Journal of Control, Automation, and Systems / v.3, no.1, 2005 , pp. 15-31 More about this Journal
Abstract
Nowadays, the road safety is an important research field. One of the principal research topics in this field is the vehicle localization in the road network. This article presents an approach of multi sensor fusion able to locate a vehicle with a decimeter precision. The different informations used in this method come from the following sensors: a low cost GPS, a numeric camera, an odometer and a steer angle sensor. Taking into account a complete model of errors on GPS data (bias on position and nonwhite errors) as well as the data provided by an original approach coupling a vision algorithm with a precise numerical map allow us to get this precision.
Keywords
Multisensor fusion; Kalman filter; GPS; artificial vision;
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Times Cited By Web Of Science : 14  (Related Records In Web of Science)
Times Cited By SCOPUS : 20
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